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基于系统侵入与不变流行的非线性系统自适应控制


  摘 要:考虑了一类具有非参数不确定非线性系统的自适应控制问题,基于系统侵入与不变流行概念,选用含有系统状态的参数误差表达式,应用非线性阻尼方法,处理参数估计误差中的不确定项,确保参数估计对外界干扰的鲁棒性。应用滑模积分反推法,确定了系统的控制率,证明了在该控制律的作用下系统平衡点全局渐近稳定。该方法设计过程简单, 参数估计误差具有良好的动态性能,而且避免了积分反推法无自适应调节时出现的系统不稳定问题。仿真结果表明,所设计的控制器对非参数不确定性具有很强的稳定性和鲁棒性。

  关键词:非参数不确定;自适应控制;系统侵入与不变流行;稳定性

  中图分类号:TP273文献标志码:A

  文章编号:1001-3695(2010)07-2569-03

  doi:10.3969/j.issn.1001-3695.2010.07.047

  Adaptive control for class of nonlinear system based onsystem immersion and invariant approach

  FAN Xiao-hong, JU Yong-feng, YAN Mao-de

  (School of Electronic & Control Technology, Chang’an University, Xi’an 710064, China)

  Abstract:This paper considered the problem of nonlinear adaptive control for a class of uncertain nonlinear system with nonparameter uncertain term.Based on system immersion and manifold invariant notion,chose parameter estimate error equation included system state.By means of nonlinear damping approach,derived new update parameter law,which could guarrntee the robust of external disturbance.Obtained the law of input control based on sliding mode integration backsteping method.Proved the asymptotical stability of the closed loop system under the obtained control law.The proposed method designed simply.It had not only the better transient performance,but also overcome the unstable problem of backstepping without adaptive prosess.Simulation results show that the proposed controllers have good stability and robustness for nonparameter uncertain parts.

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